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<div class="header">
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<div class="title">real_sense_grabber.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2015-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
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<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_IO_REAL_SENSE_GRABBER_H</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_IO_REAL_SENSE_GRABBER_H</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;boost/thread/thread.hpp&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;boost/thread/mutex.hpp&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/io/grabber.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2time_8h.html">pcl/common/time.h</a>&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keyword">namespace </span>io</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  {</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; <span class="keyword">class </span>Buffer;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">namespace </span>real_sense</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    {</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keyword">class </span>RealSenseDevice;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    }</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  }</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classpcl_1_1_real_sense_grabber.html">   64</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_real_sense_grabber.html">RealSenseGrabber</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_grabber.html">Grabber</a></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  {</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">typedef</span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        void (sig_cb_real_sense_point_cloud)</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;          (<span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZ&gt;::ConstPtr&amp;);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">typedef</span></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        void (sig_cb_real_sense_point_cloud_rgba)</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;          (<span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;::ConstPtr&amp;);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="structpcl_1_1_real_sense_grabber_1_1_mode.html">   85</a></span>&#160;      <span class="keyword">struct </span>PCL_EXPORTS <a class="code" href="structpcl_1_1_real_sense_grabber_1_1_mode.html">Mode</a></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      {</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> fps;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> depth_width;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> depth_height;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> color_width;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> color_height;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="structpcl_1_1_real_sense_grabber_1_1_mode.html#a56b86f89b583be9cb021fb3fd042d954">   94</a></span>&#160;        <a class="code" href="structpcl_1_1_real_sense_grabber_1_1_mode.html#a56b86f89b583be9cb021fb3fd042d954">Mode</a> ();</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="structpcl_1_1_real_sense_grabber_1_1_mode.html#a24acc3a6384ba8e42635bd0de202dce1">   97</a></span>&#160;        <a class="code" href="structpcl_1_1_real_sense_grabber_1_1_mode.html#a24acc3a6384ba8e42635bd0de202dce1">Mode</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> fps);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="structpcl_1_1_real_sense_grabber_1_1_mode.html#ace7748bd8f2a9e447d390fe25392efb6">  100</a></span>&#160;        <a class="code" href="structpcl_1_1_real_sense_grabber_1_1_mode.html#ace7748bd8f2a9e447d390fe25392efb6">Mode</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> depth_width, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> depth_height);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="structpcl_1_1_real_sense_grabber_1_1_mode.html#a156be4f3ec85a39c17401a0be2f2d7a7">  104</a></span>&#160;        <a class="code" href="structpcl_1_1_real_sense_grabber_1_1_mode.html#a156be4f3ec85a39c17401a0be2f2d7a7">Mode</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> fps, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> depth_width, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> depth_height);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="structpcl_1_1_real_sense_grabber_1_1_mode.html#a15d8a2f8904d0453c5cc2c6bce0160f5">  108</a></span>&#160;        <a class="code" href="structpcl_1_1_real_sense_grabber_1_1_mode.html#a15d8a2f8904d0453c5cc2c6bce0160f5">Mode</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> depth_width, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> depth_height, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> color_width, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> color_height);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="structpcl_1_1_real_sense_grabber_1_1_mode.html#a438481ff0eec705f885f2a962c322151">  111</a></span>&#160;        <a class="code" href="structpcl_1_1_real_sense_grabber_1_1_mode.html#a438481ff0eec705f885f2a962c322151">Mode</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> fps, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> depth_width, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> depth_height, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> color_width, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> color_height);</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        operator== (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_real_sense_grabber_1_1_mode.html">pcl::RealSenseGrabber::Mode</a>&amp; m) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      };</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      <span class="keyword">enum</span> TemporalFilteringType</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      {</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        RealSense_None = 0,</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        RealSense_Median = 1,</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        RealSense_Average = 2,</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      };</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classpcl_1_1_real_sense_grabber.html#ac2db013955b4a5eda639a8f7de8636d4">  142</a></span>&#160;      <a class="code" href="classpcl_1_1_real_sense_grabber.html#ac2db013955b4a5eda639a8f7de8636d4">RealSenseGrabber</a> (<span class="keyword">const</span> std::string&amp; device_id = <span class="stringliteral">&quot;&quot;</span>, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_real_sense_grabber_1_1_mode.html">Mode</a>&amp; mode = <a class="code" href="structpcl_1_1_real_sense_grabber_1_1_mode.html">Mode</a> (), <span class="keywordtype">bool</span> strict = <span class="keyword">false</span>);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="keyword">virtual</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      ~<a class="code" href="classpcl_1_1_real_sense_grabber.html">RealSenseGrabber</a> () throw ();</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      virtual <span class="keywordtype">void</span></div>
<div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="classpcl_1_1_real_sense_grabber.html#a2a313562aa36f4a39234bebde1317b6e">  148</a></span>&#160;      start ();</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      virtual <span class="keywordtype">void</span></div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classpcl_1_1_real_sense_grabber.html#a2bef56efffa3d29f0f98c170f10971a2">  151</a></span>&#160;      stop ();</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      virtual <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="classpcl_1_1_real_sense_grabber.html#a3d33159677dfd031e408b9b0b627b367">  154</a></span>&#160;      isRunning () const;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      virtual std::<span class="keywordtype">string</span></div>
<div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="classpcl_1_1_real_sense_grabber.html#a922a07c6f3e1c1b811c42fa1fd2422bb">  157</a></span>&#160;      getName ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        <span class="keywordflow">return</span> (std::string (<span class="stringliteral">&quot;RealSenseGrabber&quot;</span>));</div>
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<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00163"></a><span class="lineno"><a class="line" href="classpcl_1_1_real_sense_grabber.html#a6a0764d728d493060dc8fe81d75f8429">  163</a></span>&#160;      <a class="code" href="classpcl_1_1_real_sense_grabber.html#a6a0764d728d493060dc8fe81d75f8429">getFramesPerSecond</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="classpcl_1_1_real_sense_grabber.html#acceb4d31e228cbde706747a7d55115fb">  170</a></span>&#160;      <a class="code" href="classpcl_1_1_real_sense_grabber.html#acceb4d31e228cbde706747a7d55115fb">setConfidenceThreshold</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> threshold);</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00180"></a><span class="lineno"><a class="line" href="classpcl_1_1_real_sense_grabber.html#af71b1ad3fdbea98346f125e42eebc376">  180</a></span>&#160;      <a class="code" href="classpcl_1_1_real_sense_grabber.html#af71b1ad3fdbea98346f125e42eebc376">enableTemporalFiltering</a> (TemporalFilteringType type, <span class="keywordtype">size_t</span> window_size);</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="classpcl_1_1_real_sense_grabber.html#a809db639fd84dd583a4e330bfb388691">  184</a></span>&#160;      <a class="code" href="classpcl_1_1_real_sense_grabber.html#a809db639fd84dd583a4e330bfb388691">disableTemporalFiltering</a> ();</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;      <span class="keyword">const</span> std::string&amp;</div>
<div class="line"><a name="l00188"></a><span class="lineno"><a class="line" href="classpcl_1_1_real_sense_grabber.html#ac6a59a3fa0670328434f6a4d0003aba7">  188</a></span>&#160;      <a class="code" href="classpcl_1_1_real_sense_grabber.html#ac6a59a3fa0670328434f6a4d0003aba7">getDeviceSerialNumber</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      std::vector&lt;Mode&gt;</div>
<div class="line"><a name="l00198"></a><span class="lineno"><a class="line" href="classpcl_1_1_real_sense_grabber.html#a51a86f26171309d24e10bf0283c02e31">  198</a></span>&#160;      <a class="code" href="classpcl_1_1_real_sense_grabber.html#a51a86f26171309d24e10bf0283c02e31">getAvailableModes</a> (<span class="keywordtype">bool</span> only_depth = <span class="keyword">false</span>) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00205"></a><span class="lineno"><a class="line" href="classpcl_1_1_real_sense_grabber.html#a12137a917228ddab4669ada9b603cb33">  205</a></span>&#160;      <a class="code" href="classpcl_1_1_real_sense_grabber.html#a12137a917228ddab4669ada9b603cb33">setMode</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_real_sense_grabber_1_1_mode.html">Mode</a>&amp; mode, <span class="keywordtype">bool</span> strict = <span class="keyword">false</span>);</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      <span class="keyword">const</span> <a class="code" href="structpcl_1_1_real_sense_grabber_1_1_mode.html">Mode</a>&amp;</div>
<div class="line"><a name="l00212"></a><span class="lineno"><a class="line" href="classpcl_1_1_real_sense_grabber.html#abfc4e17662cc68283ce1c8a983275eb1">  212</a></span>&#160;      <a class="code" href="classpcl_1_1_real_sense_grabber.html#abfc4e17662cc68283ce1c8a983275eb1">getMode</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        <span class="keywordflow">return</span> (mode_selected_);</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      }</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      run ();</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      createDepthBuffer ();</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      selectMode ();</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00234"></a><span class="lineno"><a class="line" href="classpcl_1_1_real_sense_grabber.html#a3dc9d3d9898fdbb0d852639ae706d4ec">  234</a></span>&#160;      <a class="code" href="classpcl_1_1_real_sense_grabber.html#a3dc9d3d9898fdbb0d852639ae706d4ec">computeModeScore</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_real_sense_grabber_1_1_mode.html">Mode</a>&amp; mode);</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      <span class="comment">// Signals to indicate whether new clouds are available</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      boost::signals2::signal&lt;sig_cb_real_sense_point_cloud&gt;* point_cloud_signal_;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      boost::signals2::signal&lt;sig_cb_real_sense_point_cloud_rgba&gt;* point_cloud_rgba_signal_;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      boost::shared_ptr&lt;pcl::io::real_sense::RealSenseDevice&gt; device_;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      <span class="keywordtype">bool</span> is_running_;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> confidence_threshold_;</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;      TemporalFilteringType temporal_filtering_type_;</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      <span class="keywordtype">size_t</span> temporal_filtering_window_size_;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno"><a class="line" href="classpcl_1_1_real_sense_grabber.html#a8bb73ba9176a1df42be02e7eac5fad08">  249</a></span>&#160;      <a class="code" href="structpcl_1_1_real_sense_grabber_1_1_mode.html">Mode</a> <a class="code" href="classpcl_1_1_real_sense_grabber.html#a8bb73ba9176a1df42be02e7eac5fad08">mode_requested_</a>;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno"><a class="line" href="classpcl_1_1_real_sense_grabber.html#acd089f25f883c04abc7686855710ec4a">  253</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_real_sense_grabber.html#acd089f25f883c04abc7686855710ec4a">strict_</a>;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno"><a class="line" href="classpcl_1_1_real_sense_grabber.html#a8563b6a9027821888fd3f73cbcaabbf5">  257</a></span>&#160;      <a class="code" href="structpcl_1_1_real_sense_grabber_1_1_mode.html">Mode</a> <a class="code" href="classpcl_1_1_real_sense_grabber.html#a8563b6a9027821888fd3f73cbcaabbf5">mode_selected_</a>;</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno"><a class="line" href="classpcl_1_1_real_sense_grabber.html#af4d2fa66ef223d1409af0235e46ed0f2">  261</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_real_sense_grabber.html#af4d2fa66ef223d1409af0235e46ed0f2">need_xyz_</a>;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno"><a class="line" href="classpcl_1_1_real_sense_grabber.html#a70690d670c8fbeccb01da73694e23136">  265</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_real_sense_grabber.html#a70690d670c8fbeccb01da73694e23136">need_xyzrgba_</a>;</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;      <a class="code" href="classpcl_1_1_event_frequency.html">EventFrequency</a> frequency_;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;      <span class="keyword">mutable</span> boost::mutex fps_mutex_;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;      boost::thread thread_;</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; </div>
<div class="line"><a name="l00273"></a><span class="lineno"><a class="line" href="classpcl_1_1_real_sense_grabber.html#adc959d0b9579e47308cb2771d97eb66f">  273</a></span>&#160;      boost::shared_ptr&lt;pcl::io::Buffer&lt;unsigned short&gt; &gt; <a class="code" href="classpcl_1_1_real_sense_grabber.html#adc959d0b9579e47308cb2771d97eb66f">depth_buffer_</a>;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  };</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160; </div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;}</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160; </div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_IO_REAL_SENSE_GRABBER_H */</span><span class="preprocessor"></span></div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_event_frequency_html"><div class="ttname"><a href="classpcl_1_1_event_frequency.html">pcl::EventFrequency</a></div><div class="ttdoc">A helper class to measure frequency of a certain event.</div><div class="ttdef"><b>Definition:</b> time.h:152</div></div>
<div class="ttc" id="aclasspcl_1_1_grabber_html"><div class="ttname"><a href="classpcl_1_1_grabber.html">pcl::Grabber</a></div><div class="ttdoc">Grabber interface for PCL 1.x device drivers</div><div class="ttdef"><b>Definition:</b> grabber.h:59</div></div>
<div class="ttc" id="aclasspcl_1_1_real_sense_grabber_html"><div class="ttname"><a href="classpcl_1_1_real_sense_grabber.html">pcl::RealSenseGrabber</a></div><div class="ttdef"><b>Definition:</b> real_sense_grabber.h:65</div></div>
<div class="ttc" id="aclasspcl_1_1_real_sense_grabber_html_a12137a917228ddab4669ada9b603cb33"><div class="ttname"><a href="classpcl_1_1_real_sense_grabber.html#a12137a917228ddab4669ada9b603cb33">pcl::RealSenseGrabber::setMode</a></div><div class="ttdeci">void setMode(const Mode &amp;mode, bool strict=false)</div></div>
<div class="ttc" id="aclasspcl_1_1_real_sense_grabber_html_a3dc9d3d9898fdbb0d852639ae706d4ec"><div class="ttname"><a href="classpcl_1_1_real_sense_grabber.html#a3dc9d3d9898fdbb0d852639ae706d4ec">pcl::RealSenseGrabber::computeModeScore</a></div><div class="ttdeci">float computeModeScore(const Mode &amp;mode)</div></div>
<div class="ttc" id="aclasspcl_1_1_real_sense_grabber_html_a51a86f26171309d24e10bf0283c02e31"><div class="ttname"><a href="classpcl_1_1_real_sense_grabber.html#a51a86f26171309d24e10bf0283c02e31">pcl::RealSenseGrabber::getAvailableModes</a></div><div class="ttdeci">std::vector&lt; Mode &gt; getAvailableModes(bool only_depth=false) const</div></div>
<div class="ttc" id="aclasspcl_1_1_real_sense_grabber_html_a6a0764d728d493060dc8fe81d75f8429"><div class="ttname"><a href="classpcl_1_1_real_sense_grabber.html#a6a0764d728d493060dc8fe81d75f8429">pcl::RealSenseGrabber::getFramesPerSecond</a></div><div class="ttdeci">virtual float getFramesPerSecond() const</div><div class="ttdoc">returns fps. 0 if trigger based.</div></div>
<div class="ttc" id="aclasspcl_1_1_real_sense_grabber_html_a70690d670c8fbeccb01da73694e23136"><div class="ttname"><a href="classpcl_1_1_real_sense_grabber.html#a70690d670c8fbeccb01da73694e23136">pcl::RealSenseGrabber::need_xyzrgba_</a></div><div class="ttdeci">bool need_xyzrgba_</div><div class="ttdef"><b>Definition:</b> real_sense_grabber.h:265</div></div>
<div class="ttc" id="aclasspcl_1_1_real_sense_grabber_html_a809db639fd84dd583a4e330bfb388691"><div class="ttname"><a href="classpcl_1_1_real_sense_grabber.html#a809db639fd84dd583a4e330bfb388691">pcl::RealSenseGrabber::disableTemporalFiltering</a></div><div class="ttdeci">void disableTemporalFiltering()</div></div>
<div class="ttc" id="aclasspcl_1_1_real_sense_grabber_html_a8563b6a9027821888fd3f73cbcaabbf5"><div class="ttname"><a href="classpcl_1_1_real_sense_grabber.html#a8563b6a9027821888fd3f73cbcaabbf5">pcl::RealSenseGrabber::mode_selected_</a></div><div class="ttdeci">Mode mode_selected_</div><div class="ttdef"><b>Definition:</b> real_sense_grabber.h:257</div></div>
<div class="ttc" id="aclasspcl_1_1_real_sense_grabber_html_a8bb73ba9176a1df42be02e7eac5fad08"><div class="ttname"><a href="classpcl_1_1_real_sense_grabber.html#a8bb73ba9176a1df42be02e7eac5fad08">pcl::RealSenseGrabber::mode_requested_</a></div><div class="ttdeci">Mode mode_requested_</div><div class="ttdoc">Capture mode requested by the user at construction time</div><div class="ttdef"><b>Definition:</b> real_sense_grabber.h:249</div></div>
<div class="ttc" id="aclasspcl_1_1_real_sense_grabber_html_abfc4e17662cc68283ce1c8a983275eb1"><div class="ttname"><a href="classpcl_1_1_real_sense_grabber.html#abfc4e17662cc68283ce1c8a983275eb1">pcl::RealSenseGrabber::getMode</a></div><div class="ttdeci">const Mode &amp; getMode() const</div><div class="ttdef"><b>Definition:</b> real_sense_grabber.h:212</div></div>
<div class="ttc" id="aclasspcl_1_1_real_sense_grabber_html_ac2db013955b4a5eda639a8f7de8636d4"><div class="ttname"><a href="classpcl_1_1_real_sense_grabber.html#ac2db013955b4a5eda639a8f7de8636d4">pcl::RealSenseGrabber::RealSenseGrabber</a></div><div class="ttdeci">RealSenseGrabber(const std::string &amp;device_id=&quot;&quot;, const Mode &amp;mode=Mode(), bool strict=false)</div></div>
<div class="ttc" id="aclasspcl_1_1_real_sense_grabber_html_ac6a59a3fa0670328434f6a4d0003aba7"><div class="ttname"><a href="classpcl_1_1_real_sense_grabber.html#ac6a59a3fa0670328434f6a4d0003aba7">pcl::RealSenseGrabber::getDeviceSerialNumber</a></div><div class="ttdeci">const std::string &amp; getDeviceSerialNumber() const</div></div>
<div class="ttc" id="aclasspcl_1_1_real_sense_grabber_html_acceb4d31e228cbde706747a7d55115fb"><div class="ttname"><a href="classpcl_1_1_real_sense_grabber.html#acceb4d31e228cbde706747a7d55115fb">pcl::RealSenseGrabber::setConfidenceThreshold</a></div><div class="ttdeci">void setConfidenceThreshold(unsigned int threshold)</div></div>
<div class="ttc" id="aclasspcl_1_1_real_sense_grabber_html_acd089f25f883c04abc7686855710ec4a"><div class="ttname"><a href="classpcl_1_1_real_sense_grabber.html#acd089f25f883c04abc7686855710ec4a">pcl::RealSenseGrabber::strict_</a></div><div class="ttdeci">bool strict_</div><div class="ttdef"><b>Definition:</b> real_sense_grabber.h:253</div></div>
<div class="ttc" id="aclasspcl_1_1_real_sense_grabber_html_adc959d0b9579e47308cb2771d97eb66f"><div class="ttname"><a href="classpcl_1_1_real_sense_grabber.html#adc959d0b9579e47308cb2771d97eb66f">pcl::RealSenseGrabber::depth_buffer_</a></div><div class="ttdeci">boost::shared_ptr&lt; pcl::io::Buffer&lt; unsigned short &gt; &gt; depth_buffer_</div><div class="ttdoc">Depth buffer to perform temporal filtering of the depth images</div><div class="ttdef"><b>Definition:</b> real_sense_grabber.h:273</div></div>
<div class="ttc" id="aclasspcl_1_1_real_sense_grabber_html_af4d2fa66ef223d1409af0235e46ed0f2"><div class="ttname"><a href="classpcl_1_1_real_sense_grabber.html#af4d2fa66ef223d1409af0235e46ed0f2">pcl::RealSenseGrabber::need_xyz_</a></div><div class="ttdeci">bool need_xyz_</div><div class="ttdef"><b>Definition:</b> real_sense_grabber.h:261</div></div>
<div class="ttc" id="aclasspcl_1_1_real_sense_grabber_html_af71b1ad3fdbea98346f125e42eebc376"><div class="ttname"><a href="classpcl_1_1_real_sense_grabber.html#af71b1ad3fdbea98346f125e42eebc376">pcl::RealSenseGrabber::enableTemporalFiltering</a></div><div class="ttdeci">void enableTemporalFiltering(TemporalFilteringType type, size_t window_size)</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="acommon_2time_8h_html"><div class="ttname"><a href="common_2time_8h.html">time.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_real_sense_grabber_1_1_mode_html"><div class="ttname"><a href="structpcl_1_1_real_sense_grabber_1_1_mode.html">pcl::RealSenseGrabber::Mode</a></div><div class="ttdef"><b>Definition:</b> real_sense_grabber.h:86</div></div>
<div class="ttc" id="astructpcl_1_1_real_sense_grabber_1_1_mode_html_a156be4f3ec85a39c17401a0be2f2d7a7"><div class="ttname"><a href="structpcl_1_1_real_sense_grabber_1_1_mode.html#a156be4f3ec85a39c17401a0be2f2d7a7">pcl::RealSenseGrabber::Mode::Mode</a></div><div class="ttdeci">Mode(unsigned int fps, unsigned int depth_width, unsigned int depth_height)</div></div>
<div class="ttc" id="astructpcl_1_1_real_sense_grabber_1_1_mode_html_a15d8a2f8904d0453c5cc2c6bce0160f5"><div class="ttname"><a href="structpcl_1_1_real_sense_grabber_1_1_mode.html#a15d8a2f8904d0453c5cc2c6bce0160f5">pcl::RealSenseGrabber::Mode::Mode</a></div><div class="ttdeci">Mode(unsigned int depth_width, unsigned int depth_height, unsigned int color_width, unsigned int color_height)</div></div>
<div class="ttc" id="astructpcl_1_1_real_sense_grabber_1_1_mode_html_a24acc3a6384ba8e42635bd0de202dce1"><div class="ttname"><a href="structpcl_1_1_real_sense_grabber_1_1_mode.html#a24acc3a6384ba8e42635bd0de202dce1">pcl::RealSenseGrabber::Mode::Mode</a></div><div class="ttdeci">Mode(unsigned int fps)</div></div>
<div class="ttc" id="astructpcl_1_1_real_sense_grabber_1_1_mode_html_a438481ff0eec705f885f2a962c322151"><div class="ttname"><a href="structpcl_1_1_real_sense_grabber_1_1_mode.html#a438481ff0eec705f885f2a962c322151">pcl::RealSenseGrabber::Mode::Mode</a></div><div class="ttdeci">Mode(unsigned int fps, unsigned int depth_width, unsigned int depth_height, unsigned int color_width, unsigned int color_height)</div></div>
<div class="ttc" id="astructpcl_1_1_real_sense_grabber_1_1_mode_html_a56b86f89b583be9cb021fb3fd042d954"><div class="ttname"><a href="structpcl_1_1_real_sense_grabber_1_1_mode.html#a56b86f89b583be9cb021fb3fd042d954">pcl::RealSenseGrabber::Mode::Mode</a></div><div class="ttdeci">Mode()</div></div>
<div class="ttc" id="astructpcl_1_1_real_sense_grabber_1_1_mode_html_ace7748bd8f2a9e447d390fe25392efb6"><div class="ttname"><a href="structpcl_1_1_real_sense_grabber_1_1_mode.html#ace7748bd8f2a9e447d390fe25392efb6">pcl::RealSenseGrabber::Mode::Mode</a></div><div class="ttdeci">Mode(unsigned int depth_width, unsigned int depth_height)</div></div>
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